Variable voltage motor control



June 18, 1940. GE. KING 2,205,204

VARIABLB,VOLTAGE MOTOR CONTROL Filed June 16, 1938 2 Sheets-Sheet 1 INVENTOR George E King.

BY M ATTORNEY une 18, 1940. G, KlNG 2,205,204

VARIABLE VOLTAGE MOTOR CONTROL Filed June 16, 1938 2 Sheets-Sheet 2 INVENTOR G earpe E If 172g.

7 2/445 Maw ATTORN EY WITNESSES:

Patented June 18, 1940 UNITED .STATES vans/mu: VOLTAGE Mod-on oou'moi.

George E. King, Wiikinsburg, Pa., alsignor to Westinghouse Electric & Manufacturing Company, East Pittsburgh, P8., a corporation 6| Pennsylvania Application June 16, 1938, Serial'No. 214,032

18 Claims.

My invention relates to electric motor control systems, and more particularly to control systems for automatically controlling the operation of motors used to drive reciprocating mechanisms,

such as planers, draw-cut shapers, roll grinders,

transfer tables, etc., by a variable-voltage control. I My invention embodies improvements over the subject matter disclosed and claimed in my application filed Jointly with William R. Harding and William F. Eames on March 30, 1938, Serial No. 198,884, and entitled "Variable voltage control systems, and also improvements over my prior application filed March 30, 1938, Serial No. 198,883, and entitled Control systems.

In a conventional variable-voltage control, the motor is ordinarily provided with a separately excited field winding and the desired direction of rotation of the motor is effected by reversing the polarity of the energy supplied to the motor armature. The motor is arranged to be energized from a generator which may be provided with a series field winding to compensate for the IR drop in: the generator armature circuit; the armature circuit of the motor; the series field winding'itself; and the leads interconnecting the generator and motor armatures. The generator is provided with a separately excited main field winding, the current through which is arranged to be controlled and reversed in order to operate the motor and the load attached thereto, for example, a planer platen, at various speeds in either direction of travel. The excitation of the main field winding of the generator may be controlled by means of a rheostat or the combination of various resistors and suitable control devices for inserting various steps of resistance in circuit with the main field winding. For each position of the controller controlling the field current in the generator, there is a particular speed of operation of the motor and thus the load, as a planer platen, that is desired. Any departure in speed from the desired value introduces undesirable operations of the load. If it were possible to maintain all of the conditions aflecting such a control constant the desired operation could be secured with the'simpie conventional variable-voltage control Just briefly explained.

-Since it is manifestly impossible to maintain all the conditions affecting a variable-voltage control constant, I use, with such a control, a regulator-generator having a series field winding arranged to be responsive to the current supplied to the motor, and a main, or shunt field winding arranged to be responsive to the voltage applied to the motor. These field windings are differen- Differential field windings are also provided on the regulator-generator and are connected, respectively, in series circuit relation with themain field windings of the generator of the control system for opposing 'the combined action of the series and shunt field windings. The armature of the regulator-generator is arranged to be connected in series circuit relation with these regulator-generator differential field windings and the field windings of the generator of the control system and to the controller, which may be operated to independently vary the fiow of current through the main generator field windings.

By a proper selection of the electrical characteristics and constants of the electrical units included with my system of control, and by a selection of a particular interconnection of the electrical units and by making some minor compromises the proper functioning can be secured, that is, the major speed can be made to be proportional to the setting of controller regardless of: changes in ambient temperature; variations in the load on the motor; direction of operation of the motor; rapidity of the voltage reversal on the motor terminals; and regardless of the many other factors that would ordinarily prevent the desired operation of the motor.

Further, I have discovered that by a proper selection of the constants of the electrical units of a Wheatstone bridge, including the main field windings of the main generator, the differential field windings of the regulator-generator, the

armature of the regulator-generator and resistors, that the control effect of the regulator can be made 'much faster and can be made substantially independent of the shape and slope of the curve indicating its saturation characteristics. Still other advantages may be obtained, which advantages will become more apparent from a study of the objects of my invention hereinafter the motor by the control is attained in a relativelyxshort time interval and is substantially independent of: the load on the motor; the direction of rotation of the motor; and any of the 'other factors that would ordinarily prevent operation of the motor at the speed selected for it.

A still further object of my invention is to increase the speed of reversal of a reversible motor and to effect such rapid reversal of a motor in a substantially constant time interval and substantially independent of the magnitude of the load variations on the-motor.

Another broad object of my invention is to provide a system of control for varying the voltage impressed on the terminals of a direct current motor in such manner that the speed selected for the motor by the control is attained in a relatively short time interval and is substantially independent of the load on the motor; the direction of rotation of the motor; and any of the other factors that would ordinarily prevent operation of the motor at the speed selected for it.

Further, separate and distinct, as well as combined, objects of my invention are: To increase the number of reversals of a motor for a given time interval; increasing the efilciency of all reversals by reducing the time of changing the motor speed from a predetermined speed in one direction to a predetermined speed in another direction; decreasing the consumption of the electric energy by the control; increasing the effective range of the regulation of the control; decrease the current load of a regulator-generator used in the control; and increase the speed of response of the main generator to the controlling eifect of the regulator-generator.

It is also a general object of my invention to provide a control system for a tool operating machine that shall be simple. eiilcient and accurate in operation, and which may be readily and economically manufactured and installed.

Other objects and advantages not specifically hereinbefore recited will become more apparent from a study of the following specification when considered in conjunction with the accompanying drawings, in which:

Figure l is a side view, somewhat diagrammatic, of a planer having a tool support and a motor for operating the platen;

Fig. 2'is a plan view of the subject matter shown in Fig. 1;

Figs.- 3 and 4 are diagrams which together show that portion of my system of control embodying most of the novel features of my invention; and g Fig. 5 is a diagrammatic representation of a complete system of control (or a reversing motor operating a planer platen or other tool actuating machine embodying the novel features of my invention.

I a planer platen i.

In the practice of my invention, I provide a variable voltage control irawhich the motor M is mechanically coupled to drive a machine tool as The motor M is provided with a separately excited field winding 2 which is arranged to be energized in a single direction only. A generator G is provided having its armature I substantially directly connected to the armature 4 of the motor. The control of the speed and acceleration of the motor and in consequence the speed and acceleration of the planar platen and the direction of movement of the planer platen is eifected by varying the amount and direction of excitation oi the field windings 8 and 5 of the main generator. This control may be effected in a few or in many steps depending upon the type of operation that is desired.

In order to maintain the speed of the motor M at various constant speed values corresponding to a specific adjustment 0! the controller I used for controlling the current flowing through the main iieid windings of the generator, I use a regulator-generator R. This regulator-generator R is arranged to measure the speed and load of the motor and the current flowing through the main field windings 5 and I of the generator. Ihe armature 8 of the regulator-generator is arranged so that it may be connected in series circuit relation with a permanent resistor 8 and with the generator field windings i and 6, whereby the voltage generated in the armature in response to the speed and load of the motor and the current flowing through the generator field windingslandiwillcauseacurrenttoflow through the main generator field windings I and t, which current will be a function of the departure of the motor speed from a predetermined value, corresponding to the particular setting of the controller 1 for the main held windings; that is, will correspond to the particular setting of the adjustable lead I. of the rheostat ll.

Under certain load and operating conditions, no voltage will be generated in the armature of the regulator-generator R, since under these conditions the speed of the motor M corresponds to the setting of the controller I, that is, corresponds to the adjustment of rheostats H and It. For all other conditions, however, a voltage will be generated 'in the armature of the regulatorgenerator in such a direction and of such a value as to cause a current to flow through the main iield windings I and I of the generator 0 tgegrdaerate the motor at the desired, or selected, s 4

In order to measure the speed of the motor I and load carried by the motor M, the regulator-' generator R is provided with a series field winding it through which all or a portion of themrent flowing from the generator 0 to the motor M flows. 'Ihe regulator-generator is also provided with a main field winding II which is connected to be responsive to the voltage applied to the motor. These two field windings, namely, I! and II, are difierentially related to each other so that the resulting flux is a function of the speed of the motor M as measured by the counterelectromotive force of the motor. That is. the magnetomotive force produced by the series field winding I4 is proportional to the IR. drop of the motor armature A, and the magnetomotive force produced by the main field winding ll of the regulator-generator is proportional to the voltage impressed across the terminals of the armature of the motor. Thus, the resulting flux due to the difierential relationship between. the two field windings is a function of the counter-electromotive force of the motor. Since this flux results i'rom the combined action of the current flowing through the motor armature. and the voltage applied thereto, it is also a function of the load carried by the motor. The voltage which is generated in the armature of the regulator-generator due to this resulting flux is then a function of the speed of the motor and the load carried thereby.

It is desirable that any change in the voltage of the generator caused by the voltage generated in the regulator-generator armature and eilecting the current flow through the main field windings i and 6 of the generator G be immediately reflected in the voltage generated in the armature I of the regulator-generator R. Such action is desired in order to prevent hunting of the system. As soon as a voltage appears in the armature o! the regulator-generator indicating that the speed of the motor M has departed from the desired speed, a change in the flow of current through the main field windings 5 and t of the generator G takes place in such a direction as to tend to restore the speed of the motor to the desired speed. If some means is not provided for immediately effecting a corresponding change in the corrective voltage generated in the armature I of the regulator-generator R, the resulting change in the effects of the series and main field windings II and it of the regulator-generator in response to the corrective efiect will take place too late. As a result, the speed of the motor will be altered more than is desired and hunting will result.

In order to make the correction applied by the regulator-generator proportional to the departure ofthe speed of the motor from the desired speed corresponding to a particular setting of the controller for the main field windings i and 6 of the generator G, a pair of difierential field windings l6 and ii are provided in the regulatorgenerator. These field windings I6 and ii are connected in series with the main generator field 4 windings I and C, respectively. Thus any change in current which fiows through the main generator field windings I and 6 is immedately reflected in the voltage which is generated by the armature of the regulator-generator. It is then unnecessaryto await the correction in the speed 0! the motor, as reflected in the change in the eftects produced by the series and main field windings o! the regulator-generator to correspondingly afiect the voltage generated by the armature of the regulator-generator. The difierential field windings It and i1 0! the regulator-generator are arranged to produce an efiect in the same direction as the efiect producedby the series field winding ll oithe regulator-generator and, therefore, they oppose or are difierentially related to the efiect of the main field winding ii of the regulator-generator.

There is always, then, a certain relationship between the speed and load of the motor and the corrective efiect caused thereby in altering the flow of current through the main field windings or the generator. As a result, the system is free irom hunting and the speed of the motor is maintained at predetermined values corresponding to various settings of the lead ll of the controller I regardless of the many variable conditions which would otherwise affect the speed, and cause it to change from the values desired.

As has been stated hereinbetore, it is desirable to eilect a corrective action in the current fiowing through the main field windings 5 and 6 of the generator G by means of the regulator-gem erator R, without altering the currents flowing through the main field windings 5 and i from the controller. It is then possible to maintain a preciserelationship between the speed or the motor and the corresponding movement of the planer platen and the various settings of the controller, regardless of the load or other variable conditions which otherwise would normally atiect the operation of the motor.-

I have discovered that a Wheatstone bridge arrangement may be combined with the control for machine tools to effect the desired independent control of the current fiowing through the main field windings of the generator. I provide a Wheatstone bridge circuit in which the difierential field windings It and ll of the regulatorgenerator and the main generator field windings 5 and i are respectively connected in series circuit relation, and form all 0! two of the branches of the Wheatstone bridge circuit. The armature oi the regulator-generator is connected across one pair of opposite terminals 01' the Wheatstone bridge circuit while the remaining pair or terminals is connected through some switches and through the controller I to an independent source the branches of the bridge containing the main field windings 5 and] o! the generator G by means of the controller 1 independently of the current fiow therethrough from the armature o! the regulator-generator, and vice versa.

Referring more particularly to Fig. 1 of the drawings, the reference character M designates generaihl the motor mechanically coupled to drive the planer platen I of the planer II. A

work piece I9 is shown mounted on the platen, and as the platen reciprocate s, by reason of the reversing operation of the motor M, the tool 20 mounted on the cross rail operates on the work piece ll.

The motor M is substantially directly electrically connected to the generator G. (See Fig. 5.) Thegenerator G has main field windings 5 and i and a differential stabilizing field winding 2i.

The armature 3 of the generator G is mechanically coupled to the shaft 22 or the induction motor, or other prime mover P. This induction motor P is disposed to be connected to the buses 22, 24 and 2| leading to a suitable source of alternating current energy.

In order to properly control the motor M, I

use a regulator-generator generally designated R,

whichregulator-generator has the armature l mechanically coupled to an induction motor 2.

The motor 26 is a relatively small machine, but

has winding arrangements similar to the winding arrangements of motor P, so that the speed of the regulator-generator R and the speed of the generator G are, when in normal operation, the same. If desirable, the regulator-generator may bemechanically coupled to the shaft 22. In actual practice, since the dynamo-electric machines 2 and R are of about the same capacity, they will be built as a unit having the same frame and shaft.

As shown in Fig. 5, the regulator-generator R is provided with a main'or shunt field winding II, a pair of differential field winding i8 and I1 and a series field winding H. As indi by the arrows adjacent these mentioned 1 windings. difierential field windings l6 and ii and the series field winding it are so wound on the pole pieces of theregulator-generator R that they produce magnetomotive forces in the same direction, but opposite to the direction of the magnetomotive force produced by the main or shunt fieldv winding I5. I

Assuming the generator G is in operation through suitable operation oi! a controller 21, the starting of the motor M is controlled by pushbutton switches 28 and 29 which control reversing or directional contactors ll and II. The operation of either of the reversing contactors eflects the connection of the controller I in the system of control to the exeiter E. When the controller 1 is thus connected to the exciter E, a

the current through the Wheatstone bridge will be in one direction when directional contaotor 30 is operated and in another direction when the directional contactor 3| is operated.

It is desirable to independently control the fiow of current through the main field windings 5 and 6 of the generator G from two sources, one of the sources comprising the exciter E across 'the armature terminals of which the rheostat II and the Wheatstone bridge are connected, and

the other source comprising the armature 2 of the regulator-generator. For this purpose, I provide, as already suggested, a Wheatstone bridge circuit comprising the customary four legs or branches, two of which include the resistors R1 and R4 and the other two branches comprise, 15

one of them, the difi'erential field winding ii of the regulator-generator R and field winding I of the main generator G, and the other oi them, the field winding 6 of the main generator 0, and diilerential field winding ll of the regulatorgenerator R.

The armature 8 of the regulator-generator may have its terminals connected to two of the opposite terminals of the 'Wheatstone bridge either through resistor 9 and switches 32 and 33 or through resistors 9 and II. The other two opposite terminals of the Wheatstone bridge may be connected, either through the contact members [3 or resistor R1, resistor 5i, and rheostat ii and certain switches oi the directional contactors and 3! to the exciter E. The series field winding ll of the regulator-generator R is connected, as illustrated, in series with an adjustable resistor R5 disposed in the circuit connecting the armatures 3 and l of the generator G and motor M, respectively. An adjustable shunt 35 may be provided for adjusting the flow of current through the series field winding H. The shunt field winding i5 is connected through an adjustable resistor Rs across the armature terminals of the motor M. The resistor Rs is used to reduce the heat loss in the shunt field winding i5 and in consequence reduces to a minimum any change in reristance oi the field winding 15 by reason of temperature changes.

Production is an important item on machine tools and the speed of operation and speed of reversal of a reciprocating machine element are thus very important operating characteristics that infiuence production. Anything in a system of control that will increase the rate of acceleration of a motor upon starting and increase the rate of retardation of a motor upon stopping is thus a valuable contribution to the art.

With the devices of the prior art and also the systems of control disclosed and claimed in the applications, hereinbeiore mentioned, it was not possible to design the field windings oi the motor and generator, in a variable voltage control, for a small inductive time constant to thus secure the most rapid reversal.

This can be best explained by pointing out the difiiculties encountered with a regulatorgenerator.

The field windings IB and i1, designated diti'erential field windings, are, with reference to the regulator-generator, series windings and any voltage developed for a self-exciting regulatorgenerator builds up the voltage to some given value depending on the resistance characteristics of the field circuit. In other words, referring to Fig. 3, the regulator-generator voltage, Ea, is equal to the current in the difierential field winding, as In, times the total resistance.

where Rat=armature resistance of the regulator-generator armature;

Rs=resistance oi main field 5;

Riu=resistance of regulator difierential field I I Rz=resistance oi resistor R':; and

Ri=resistance of one branch of the Wheatstone bridge.

Let it be assumed that the desired voltage of the regulator-generator is 100 volts for one ampere of 116. Due to manufacturing limitations, it is not possible to prevent the voltage from varying for different regulators. To secure good regulation, the regulator must be sell-exciting which means the ohmic value of the bridge circuit must be equal to the generated voltage divided by the field current, as In. This would mean that for 100 volts, the resistance of the bridge should be 100 ohms.

Referring to Fig. 3 this would mean that each leg of the bridge should be 50 ohms neglecting the small resistance of the regulator-generator armature. If the voltage of the exciter is 240 volts, being a standard machine, this would mean that the maximum main generator field current per winding would be 2.4 amperes. This means that each hall of the main generator field, that is, field windings 5 and i, must be less than 50 ohms. There is, however, no freedom in selecting the magnitude of the resistance values oi the field windings 5 and 6, since the resistance value of the halves of the bridge including these windings is fixed at near 50 ohms.

If the relation hereinbeiore expressed is not fixed to get a given voltage from the regulatorgenerator, then the voltage regulation oi the regulator-generator is poor. For instance, ii Rai+Rs+Rm+R'z+R1 is less than the desired ratio En. to In then more current will fiow through field Ii (considering only one of the difierentiai field windings for simplicity of presentation) and the voltage will go up. When the regulatorgenerator voltage builds up still more and more current fiows through winding i6 and the voltage is built up still more.

When the sum of the resistance is greater than the ratio of En to In, the reverse eflect is pro duced.

Since the resistance of any one leg of the bridge for a given application is fixed, the wire size for the windings 5 and it cannot be independently selected. Furthermore, a resistor as R: must be placed in series with the windings I and ii to get the resistance of the leg of the bridge including the field windings to exactly the value needed. Another resistor, as R22. must be, placed in series with windings 6 and I1 and the resistance value of these two resistors as well as resistors R1 and R4 must be manipulated to fit all field winding and the armature characteristics of the regulator generator to the requirements oi the bridge. The result is that the field windings particularly for the larger sized main generators will be sluggish.

In Fig, 4, I illustrate my contribution to the art, by this application, in its simplest form. I show a permanent resistor 9 in series with the armature oi the regulator-generator and show no resistors at all in series with the field windings 5 and i6 and 6 and I]. With this arrangement, the generator fields can be designed for a lower resistance and a higher current making them much faster. The legs of the bridge no longer need to be 50 ohms or some other high value but can be very much lower, that is any lower value and thus will draw more current from the main exciter E. The resistor 9 can be designed to make the regulator-generator selfexciting as the regulator current must pass through this resistor. The arrangement permits a much better generator design primarily of the main generator but also of the regulator-generator.

With the bridge circuit of Fig. 3, the generator of the main generator field must be designed so that the sum of the resistance of each generator and regulator field is less but somewhere near By the use of my arrangement shown in Fig. 4,

the resistors R1 and R4 are, designed to have a resistance value equal the sum of the resistance values of the main generator and regulator fields in the respective opposite legs of the bridge and "then it is necessary at the factory to select the proper resistance value for only one resistor, namely, resistor l, to make the regulator selfexcitlng.

The regulator-generator sends current through the main generator fields in the same direction as the excitation current when the generator is operating near saturation. Thisis to correct for saturation of the main generator. The resistors R: and R2: in Fig. 3 must, therefore, be of sufficient capacity to carry both the excitation and regulator current. The resistors R1 and R4 are subjected to the difference between the excitation and regulator voltages and can be of less capacity. I

With my new scheme, the two resistors R: and Ru are not needed and resistors R1 and R4 can be of much lower capacity, My scheme thus provides a circuit arrangement which permits the design of faster main generator fields, in which the adjustment is easier, in which fewer resistors are needed, and in which the resistors used can be of lower capacity.

To analyze the functioning of the Wheatstone bridge and the regulator-generator, an investigation of the mathematical relations of the oilcuit characteristics may not be amiss.

Let V=control voltage that may be obtained from controller I; namely, the voltage across junctions 36 and 31.

Let the four branches of the Wheatstone bridge be indicated by the resistors R1, R2, Ra and R4. The resistance of the resistor R4 is, of course. composed only of the combined resistance value of differential field winding i6 and field winding I whereas the resistance of resistor Ra is composed of the combined resistance value of field winding 8 and differential field winding l1.

Let Ea'=the voltage obtained from the armature of the regulator-generator.

let 11. I2, I: and 14 indicate the currents flowing'in the branches of thewheatstone bridge.

Let Rs also indicate the resistance value of resistor Rs connected in series with the field winding ll.

Let Re also'indicate the resistance value of the adjustable resistor Rs connected in series with the shunt field winding I5. I

In order to show that the currents flowing through the generator field windings I and I in two of the branches of the bridge circuit may be independently changed by altering either the control voltage or the voltage supplied bythe regulator-generator R the following derivation of the current flowing through these windings is set forth; and, based on the assumption that the bridge circuit is balanced,

(8) V-IsRs-l's-l-hRa, and Is- I select the resistance values of the field windlugs] and I, and II and I1, and resistors R1 and Branch that R1=Ra=R1=Ra More specifically I select the resistance values such that the resistance values of fields I and I are equal to each other, the resistance values of field windings II and H are equal to each other. Since the regulater-generator is an independent source'of potential in the galvanometer circuit or a Wheatstone bridge it does not follow that Is, for initange. is equal to 14, but itdoes follow that Simplifying Equation 3 and remembering that R1=R2=Ra=Ra and that Ia=Is From Equations 6 or 7 it will be apparent that either the control voltage V, or the regulator voltage Ea may be changed to independently produce changes in the currents I: and Is flowing in the field windings I and I of the generator Q.

As has been hereinbefore pointed out, it is desirable to maintain a predetermined relationship between the speed of the motor M and the control voltage V represented by the setting of the lead ll of the controller regardless of the variable characteristics of the system or the direction of rotation of the-motor M. The regulator-generator R serves as an automatic compensator to eflect this desired relationship. When the regulater-generator is used there is a constant relation between the speed of the motor M and the control voltage V which relation, due to the regulator-generator R, is unaffected by the variable characteristics of the system. That this relationship is thru will be apparent from the following:

The voltages generated by the regulator-generator when the field windings are individually excited, may be represented by the followingequations: (8) Voltage resulting from winding ll,

- E14=k1dn (9) Voltage resultingrrom winding ll,

Ers=krshs (l0) Voltage resulting from windings ll,

' E1a=kisl1e (11) Voltage resulting from winding I'I,

Err-kn!" where 114. I Ire, and In represent the currents in the windings I4, l5, l6 and I1, and where he, lm, km, and kn are constants obtained from the magnetization curves of the regulator-generator R, when it is individually excited by the respective field windings.

The voltage Ea. generated by the armature of .the regulator-generator equals the sum of the individual ,voltages generated by the four field windings when they are simultaneously energized. Since the effect of winding II is opposite to the effect of windings ll, l6, and I1,

(12) En=kul14+lcielis+knlnkislis, or

Since I1s=ln=la=lz Equation 12 becomes and Equation 6 may be rewritten as The current flowing through the main or shunt field winding I 01 the regulator-generator may be expressed by the following equation:

combining and (16) we 0| (31 3 am)- mm tu u and solving for I, we get s g t V+ 14 10] 'i' u s- Bince the resistance R14 01 the regulator series 1 fleld winding is negligible and the current flowing through the main field winding II is also negligible as compared to the current flowing to the motor M, both of these values may be neglected and the counter-electromotive force 01 motor M or its speed may be represented.

(19) EI=E:-Iu(Rs+Rl) Combini is (l9) and (1s) (20) EI- E WHMIHHINm-mRt-INR 21) srff 'vwult-ltst By proper selection of the value otRu, and ii necessary, the values Ins, kn, Re and Ru, Ru may be equal to s+ is) This means that 22 E,,=-- 'Z?" v= Kv Equation 22 thus shows that the speed of the motor M, as represented by its counter-electro motive force En, and thus the speed of the planer platen will always be equal to a constant, as K, times the control voltage V, i. e., Eu will always be directly proportional to control voltage V, namely, directly proportional to the change in position of the lead ll, regardless oi! the variable characteristics of the system of control.

A still better understanding of my system of control may be had from a more detailed study of its operation.

If the attendant wishes to start the equipment he actuates the motor starter 21 to thus cause the operation oi prime mover P and the induction motor 2|. 'Regulator-generator R, the exciter E and the main generator (3 are thus caused to operate. Operation of the motor starter also establishes an energizing circuit for the coil II of the contactor 3|, whereupon the contact members ll are closed to set up circuit connections to be described later.

When the motors P and 26 are up to full speed, the voltage of exciter E will be of full value and in consequence the main motor M may be started. Since the exciter voltage is up to normal, a predetermined direct-current potential is placed across buses 4| and 42.

' lnergisation o! buses it and 42 provides an energizing circuit for the neutralising coil 4| 0! the time limit relay 4. The current through coil 4| may be adjusted by proper selection of the resistance value of resistor and the adjustment of resistor fl.

The iield winding 2 or motor M is also energized from buses ll and 42. The field circuit may be traced from bus 4| through conductor the fleld rheostat comprising the resistor l2 and adjustable lead l|, conductor 4|, field winding 2 to bus 42. An additional but low resistance circuit is also established for the field winding 2, which additional circuit may be traced from energized conductor 4| through contact members N of starting control relay shunting the iield rheostat.

A still further circuit is established from bus ll through conductor l9, contact members 0! the time limit relay 4| and actuating coil 0! control relay 62 for the stabilizing field winding 2|.

Operation of control relay 62 establishes a ctrcuit from the upper terminal 0! the armature of the main generator G through conductors II and 6|, contact members H o! relay conductor 6|, stabilizing field winding 2i and adjustable resistor to the lower terminal of armature I. The connection or held 2| is such as to buck the residual magnetism of the generator. The field 2| operates to stabilize the generator and assure that thegenerator does not generate a voltage. Since the generator is not generating any voltage motor M will not operate.

To efl'ect normal operation of motor M, either one of the switches 2| and 2| should be operated. Let switch 2| be the forward control push button switch. To eflect iorward operation, that is, an operation in the out direction, the attendant depresses the switch 2|. A circuit is immediately established from bus through conductor H, the magnetizing coil 8| of the time limit relay 4|, contact members ll, conductor 52, reversing limit switch 5|, reverse starting push button switch 2|, the lower terminals of switch 2|, stop switch N. actuating coil 5| oi regulator-generator control relay to the bus l2.

Time limit relay 4| has a very negligible time constant when coil is energized, as just explained, with the result that contact members 6| open immediately, whereupon coil H is dee'nergized and contact members I? open the circuit for the stabilizing fleld winding 2|.

Operation of relay 5| establishes its own holding circuit through contact members U and resistor Ill, and also closes switches or contact members 32, i3, 1|, 1| and H.

Closure of contact members Ii establishes a circuit from energized conductor 52 through limit switch 8|, switch 2|, contact members ll, back contact members 12 of directional contactor II and actuating coil 1| of directional contactor |l to bus 42.

' and after travelling but a short distance farther increased more and more. Since the requirements are more oiten for long strokes, the reversal is ordinarily rapid enough it switches 88 and 88 are closed and resistorl only is in the circuit of armature 8.

Closure of switch or contact members I8 shunts the resistor R1 so that the full voltage of the exciter E is applied, as modified by controller I,

and resistor 5| to the junctions 88 and II of the Wheatstone bridge circuit. Closure of contact members II, I8 and I8 does not immediately close any circuits.

The relay 88 also opens contact members 81 and 14. Opening of contact members 81 inserts the controller I in. the control circuit for the generator and the opening oi! contact members I4 eliminates the inching push button switches 18 and 18 so that they cannot be used to interfere with the automatic control.

Closure of contact members 1| causes the operation of forward directional contactor II which contactor' causes the opening of contact members 88, so that the closure or contact members I8 will have no effect, and causes the closure of contact members 88, M, 82 and I82.

Closure of contact members 82 shunts the rheostatic control for the field winding 2 during the cutting stroke. High operating torque and a low speed is thus assured during the cutting operation. 7

Operation of directional contactor 8| also establishes a circuit from bus 4| through conductor 48, the lead I8 of controller I, a portion of resistor II, conductor 58, contact members 88, conductor 88, contact members I3 to junction 88, through the Wheatstone bridge to junction 81, resistor 5|, conductor '82, contact members II to bus 42.

The regulator-generator R connected in the Wheatstone bridge having the relative circuit constants hereinbefore specified and excited in the manner hereinbefore stated will thus produce a control effect so as to give the planer platen a speed in the out direction which is a direct measure of the position of lead I8 on the rheostat II. Neither the cutting load, the ambient temperature, the temperature of the electric units, direction oi! operation, nor any other of the manyfactors, that might otherwise affect the' speed of operation of the motor M, will have any material effect. The speed'of the motor will-thus always be determined by the position of the controller lever, namely, the position of lead I8.

Further the novel arrangement of the windings strokes and long strokes were certain low numbers per minute but with my system of control this has been increased for both short and long strokes.

The novel circuit arrangement makes the regulator-generator more effective with less current consumption than was formerly'the case, and its effective range controlling speed has been increased.

As the planer platen moves to the end of its stroke, a dog, schematically indicated by block 88 mounted on the platen first actuates the lever 84 a rapid rate.

the, arrival of the platen at the end 0! the stroke was from conductor 88 through limit switch I18, conductor I18, limit switch I88, conductor III, contact members I82 and I8, coil 88, conductor 81, resistor 88, armature 8 back to conductor 85. By opening contact members I82 we make the operation of relay 85 at critical times, as at reversal, independent of the voltage of generator G. Contact members 84 are thus held closed at reversal even though the generator voltage may not drop with the desired speed. The field winding 2 of motor M thus is heavily energized and the stopping of the platen and the re-acceleration in the reverse direction is speeded up.

' The more rapid re-acceleration, but in the return direction, is accomplished as explained hereinafter.

Theinstant contact members 88 close, a circuit is established from bus 4I through coil 88 of time limit relay 44, contact members 48, conductor 82, limit switch I82, switch 28, contact members I8, actuating coil I83 of reverse directional contact 38, and contact members 88 to bus 42. During normal reciprocating movements of the platen contact members 88 will at no time close. This is as it should be because field 2| needs to be energized only when initially starting the equipment.

Operation of contactor 38 causes the opening of contact members I2 to prevent reenergization of coil 18 and also causes the closing of contact stage are still closed regardless of the closure of contact members 88. g

As the platen moves in the return direction it first resets limit switch I18 an after 'a very short distance of travel resets limit switches 88 and I88 whereupon a circuit is established from conductor. 88' through limit switches I88 and I8I, contact members 88 and I8, coil 88 to energized conductor 8|.- Contact members 84 are thus opened, the field excitation of field 2 is decreased and the motor operates to return'the platen at At the end of the return stroke, dog I88 successively operates limit switches I82 and I88, and lil. The field winding 2 is thus heavily energized since contact members 84 close and since coil I8 is energized, the circuits for the forward operationare reestablished and the platen moves in the out direction as hereinbefore explained.

' lngs connected in two opposite legs of a balanced Wheatstone bridge, a load connected in series with the generator armature winding, a regulator-generator and adjustable resistor connected in series with the armature of the regulatorgenerator connected across two oi. the Junctions of the Wheatstone bridge, said regulator-generator having a pair of field windings connected. respectively, across the generator terminals and in the load circuit and a pair oi field windings one connected in one leg of the bridge in series with one of the-"low impedance main generator field windings and the other connected in the opposite leg of "the bridge in series vwith the other of the low impedance main generator field windings, and a pair of bridge balancing resistors connected in the other two opposite legs of the bridge and a source of variable direct current voltage connected across the other two Junctions of the bridge.

2. In a system or control for controlling the excitation of a generator in combination, a main generator having an armature winding and having a pair of relatively low impedance field windings connected in two opposite legs oi a balanced Wheatstone bridge, a load circuit connected in series with said armature winding, a regulatorgenerator and adjustable resistor connected in series with the armature oi the regulator-generator connected across two of the junctions of the Wheatstone bridge, said regulator-generator having a pair or field windings connected. respectively, in the load circuit of said generator and across the generator terminals and having a pair of field windings one connected in one leg of the bridge in'series with one oi the low impedance main generator field windings and the other connected in the opposite leg of the bridge in series with the other of the low impedance main generator field windings, and a pair oi bridge balancing resistors connected in the other two opposite legs of the bridge.

3. In a system of control for a motor, in combination, a generator having a pair of low impedance field windings, a motor, substantially oi the capacity oi the generator, directly connected to the generator and having a field winding, an exciter, a controller adapted to alter the excitation of the motor field winding depending on the direction of rotation oi the motor and adapted to reverse the connection of the two generator field windings to the exciter, a regulator-generator having an armature winding, an adjustable resistor in series with the armature winding and four field windings, a balanced Wheatstone bridge circuit having two of its junctions connected through the controller to the exciter and having the armature oi the regulator-generator and the resistor in series with it connected new the other two or no voltage Junctions of the bridge, said Wheatstone bridge including only one regulator-generator field winding and one of the low impedance generator field windings in one leg and only the other regulator-generator field winding and the other low impedance field winding in the opposite leg, and including a pair of resistors in the other two opposite legs, the remaining two fild windings oi the regulator generator being connected, respectively, to the generator terminals and in the armature circuit oi the generator and motor.

4. In a system of control for controlling the voltage of a generator. the sub-combination of a main generator, a Wheatstone bridge including a regulator-generator connected across two oi the junctions or the bridge, a low impedance main generator field winding and a field winding for the regulator-generator in one leg oi the bridge, a second low impedance main generator field winding and a field winding of the regulator-generator in the opposite leg or the Wheatstone bridge. and a pair oi resistors in the two opposite legs 0! the bridge and two regulatorgenerator field windings connected, respectiveto be responsive to the generator voltage and generator load current.

5. In a system of control. in combination, a Wheatstone bridge, a pair of adjustable resistors in each of two of the oppositely disposed branches, and a pair of generators, one of said generators having four field windings and the other of said generators having at least two relatively low impedance field windings, one of the field windings of the first generator and one or the low impedance field windings constituting all of one branch or the Wheatstone bridge, and a second field winding of the first generator and one of the low impedance field windings of the second generator constituting all of the remaining branch of the Wheatstone bridge, the one of said generators having four field windings being connected to two of the Junctions or said Wheatstone bridge and the other generator being connected to a load and the remaining two field windings oi' the generator having our field windings being connected to be responsive, respectively, to the voltage and the load of the generator having two field windings.

6. In a system of control. in combination. a Wheatstone bridge, a pair of adjustable resistors in each of two or the oppositely disposed branches, and a pair of generators, one of said generators having four field windings and the other of said generators having at least two low impedance field windings. one of the field windings of the first generator and one of the low impedance field windings constituting all of one branch of the Wheatstone birdge, and a second field winding of the first generator and one oi the low impedance field windings of the second generator constituting all of the re branch of the Wheatstone bridge, said remaining two field windings of the first generator being connected respectively across the armature terminals of the second generator and the armsture circuit oi the second generator to thus be responsive to the voltage and armature current respectively of the second generator.

7. In a variable voltage control system, in combination, a motor, a control source of energy, a generator electrically connected to the motor. a pair oi main low impedance field windings for said generator, a controller for connecting the main low impedance field windings to said control source of energy in a plurality of difierent steps to elect changes in the speed of the motor, and a regulator-generator connected to vary the fiow of current through the main low impedance field windings, independently or the current fiow therethrough from said control source or energy. to maintain the speed or said motor at predetermined or selected difierent speeds, each speed corresponding to the step selected by said controller, said regulator-generator having an armature winding, a series field winding, a shunt field winding, a pair of difierential field windings, said series and shunt field windings being disposed to be difierentially related to each other and respectively responsive to the voltage supplied to said motor from said generator, said armature windings or said regulator- 'mined or selected diiierent speeds, each speed generator, including in its armature circuit a resistor adapted to be connected in series circuit with said armature winding, means ior shunting said resistor, and means ior also adjusting the resistance value oi said resistor, being connected across one pair oi opposite terminals oi a normally balanced Wheatstone bridge circuit, the remaining pair of terminals of said bridge circuit being connected through said controller to said control source of energy, one oi the arms oi said bridge circuit including only one oi the pair of said main low impedance field windings, and in series circuit therewith, only one oi the said pair oi diilerential field windings oi said '-regulator-generator and the diametrically opsite arm of said bridge circuit including only the other oi the said pair oi main low impedance field windings and, in series circuit therewith, only the other oi said pair of diiierential field windings of said regulator-generator.

8. In a .variable voltage control system,- in combination, a motor, a control source oi energy, a generator electrically connected to the motor,

a pair of main low impedance field windings for] said generator, 9. controller ior connecting the main low impedance field windings to said control source of energy in a plurality oi diiierent steps to effect changes in the speed'oi the motor, and a regulator-generator connected to vary the flow oi current through the main low impedance field winding independently oi the current flow therethrough irom said control source of energy, to maintain the speed of said motor at predetermined or selected difi'erent speeds,

' each speed corresponding to the step selected by said controller, said regulator-generator having an armature winding, a series field winding, a shunt field winding. a pair of diiierential field windings, said series and shunt field windings being disposed to be difierentially related to each other and respectively responsive to thecurrent and voltage supplied to said motor from said generator, said armature winding oi said regulatorgenerator, including in its armature circuit a resistor adapted to be connected in series circuit with said armature winding, and means for also adjusting the resistance value of said resistor, being conna'ited across one pair oi opposite terminals oi a normally balanced Wheatstone bridge circuit, the remaining pair oi terminals of said bridge circuit being connected through said controller to said control source oi energy, one of the arms oi said bridge circuit including only one'of the pair of said main low impedance field windings and one oi the said pair of differential field windings oi said regulator-generator connected in series circuit therewith and the diam rically opposite arm of said bridge circuit 'cluding the other of the said pair of main field low impedance windings and, in series circuit therewith, the other oi said pair of differential field windings oi said regulator-generator.

9. In a variable voltage control systems, in combination, a motor, a control source oi energy, a generator electrically connected to the motor, a pair oi main low impedance field windings for said generator, a controller ior connecting the main field windings to said control source oi energy in a plurality of difierent steps to eiiect changes in the speed oi the motor, and a regulator-generator connected to vary the fiow oi current through the main low impedance field windings, independently of the current fiow therethrough from said control source of energy, to maintain the speed oi said motor at predetercorresponding to the step selected by said controller, said regulator-generator having an armature winding, 0. series field winding, a shunt field winding, a pair oi diiierential field windings, said series and shunt field windings being disposed to be differentially related to each other and respectively responsive to the current and voltage supplied to said motor irom said generator, said armature winding oi said regulator-generator, including in its armature circuit a resistor adapted to be connected in series circuit with said armature winding, being connected across one pair oi opposite terminals oi a normally bal-- anced Wheatstone bridge circuit, the remaining pair oi-terminals of said bridge circuit being connected through said controller to said control source of energy, one oi the arms of said bridge circuit including only one of the pair of said main low impedance field windings and in series circuit therewith, one oi the said pair of difi'erential field windings oi said regulator-generator, and the diametrically opposite arm of said bridge circuit including only the other of the said pair oi main low impedance field windings and, in series circuit therewith, the other of said pair of diilerential field windings of said regulatorgenerator.

10. In a variable voltage control system, in combination, a motor, a control source oi electric energy, 9 generator electrically connected to the motor, a pair-oi main low impedance field windings for said generator, a controller for connecting the main low impedance field windings to said control source of energy in a plurality of diiierent steps to effect changes in the speed of the motor, and a regulator-generator connected to vary thev fiow of current through the main low impedance field windings, independently oi the current fiow therethrough from said control source of energy, to maintain the speed of said motor at predtermined, or selected, diiierent speeds, each speed corresponding tothe step selected by said controller, said regulatorgenerator having an armature circuit including an armature winding, a series field winding, a shunt field winding, a pair oi diiierential field windings, said series and shunt field windings being disposed to be diflerentially related to each other and respectively responsive to the current and voltage supplied to said motor from said generator, means for varying the resistance of said armature circuit from a given minimum to a given maximum, said armature winding and series adjustable resistor being connected across one pair of opposite terminals of a normally balanced Wheatstone birdge circuit, the remaining pair of terminals of said bridge circuit being connected through said controller to said control source oi energy, one oi the arms of said bridge circuit including only one of the pair of said main low impedance field windings in series circuit therewith, and one of the said pair oi difand the other of said generators having two field windings, one oi the field windings of the first generator and one or the field windings or the second generator. connected in series circuit relation, being connected in one or the branches or the bridge and a second field winding of the first generator and the remaining or second. field winding oi the second generator, conected in series, being connected in the remaining branch of said Wheatstone bridge, said remaining two field windings of the first generator being connected respectively across the armature terminals of the second generator and in the armature circuit of the second generator to thus be responsive to the voltage and armature current respectively of the second generator, and said generator having the four field windings having its armature connected across two of the junctions of the Wheatstone bridge.

12. In a speed regulator for an adjustable speed reversing power driven mechanism in which an armature or a generator driven at relatively constant speed is substantially directly connected to an armature or a power motor whose speed is adjusted by changing the voltage of the said generator armature, the combination; a first relatively low impedance field for said generator; is second relatively low impedance field for said generator, a regulator generator having a resistance adjustable armature, a first, a second, a third, and a fourth field; said first regulator field being connected so that current proportional to that flowing between the generator and motor armatures fiows in it: said second regulator field being connected so that a current proportional to the voltage across the terminals of said motor flows in it; and a Wheatstone bridge circuit having four junctions, said circuit comprising an adjustable impedance device connected between the first and second junctions; the first low impedance field or said generator and the third field or said regulator in series circuit relation connected directly to the second and third junctions; a second adjustable impedance device connected to the third and fourth junctions and said second low impedance generator field and said fourth regulator field in series circuit relation connected to said fourth and said first junctions; the armature or said regulator generator being connected in a circuit between the first and third junctions and a separate voltage supply oi adjustable value being connected to the second and'i'ourth Junctions.

13. In a system or control for a motor, in combination, a Wheatstone bridge, a pair of adjustable resistors in each of two or the branches, a pair of generators, one or said generators having tour field windings and the other of said generators having at least two relatively low impedance field windings, one oi the field windings of the first generator and one or the low impedance field windings or the second generator, connected in series circuit relation, being alone connected in one of the branches of the bridge and a second field winding of the first generator and the remaining, or second, field low impedance winding of the second generator, connected in series, being alone connected in the remaining branch of the said Wheatstone bridge, said remaining two field windings or the first generator being connected respectively across the armature terminals or the second generator and in the armature circuit oi the second generator to thus be responsive to the voltage and armature current respectively or the second generator and a motor connected across the armature terminals or the second generator. and the generator having the tour field windings being connected to two or the Junctions or the Wheatetcne bridge, and a source or voltage connected to the remaining junctions or the Wheatstone bridge.

14. In a system or control for a motor, in combination, a Wheatstone bridge, a pair of adjustable resistors in each or two of the branches, a pair of generators, one of said generators having four field windings and the other of said generators having at least two relatively low impedance field windings, one oi the field windings of the first generator and one or the low impedance field windings oi the second generator, connected in series circuit relation, being alone connected in one of the branches oi the bridge and a second field winding 01 the first generator and the remaining, or second, field low impedance winding oi the second generator, connected in series, being alone connected in the remaining branch of said Wheatstone bridge, said remaining two field windings of the generator having four field windings being connected to be responsive to the load and voltage, respectively, of the generator having the two field windings, and the armature oi the generator having the four field windings being connected to two or the junctions of the Wheatstone bridge.

15. In a system of control for a motor, in combination, a Wheatstone bridge. a pair of adjustable resistors in each of two or the branches. a pair of generators, one or said generators having tour field windings and the other 01 said generators having at least two relatively low impedance field windings. one or the field windings oi the first generator and one oi the low impedance field windings oi the second generator, connected in series circuit relation, connected in one or the branches of the bridge and a second field winding oi the first generator and the remaining, or second, field low impedance winding of the second generator, connected in series, being alone connected in the remaining branch 01 said Wheatstone bridge, said remaining two field windings oi the first generator being connected respectively across the armature terminals of the second generator and in the armature circuit of the second generator to thus be responsive to the voltage and armature current respectively oi the second generator and a motor connected across the armature terminals or the second generator, said first generator being connected across two oi the junctions of the said Wheatstone bridge.

16. In a system or control tor a motor, in combination, a Wheatstone bridge, a pair or adjustable resistors in each of two or the branches, a pair oi generators, one 0! said generators having four field windings and the other 0! said generators having at least two relatively low impedance field windings, one or the field windings oi the first generator and one or the low impedance field windings of the second generator, connected in series circuit relation, being alone connected in one or the branches of the bridge and a second field winding of the first generator and the remaining, or second, field low impedance winding oi the second generator, connected in series, being alone connected in the remaining branch oi said Wheat-stone bridge, said first generator being connected across two oi the junctions of the said Wheatstone bridge, and the remaining two field windings oi the generator having low field windings being connected to be responsive to the voltage and load, respectively, of the generator having the two field windings.

17. In a system of control, in combination, a Wheatstone bridge, a pair of resistors in each of two of the branches, and a pair of generators, one of said generators having an armature and an adjustable resistor in series therewith and four field windings and the other of said generator having at least two relatively low impedance field windings, one o! the field windings of the first generator and one of the low impedance field windings of the second generator, cnnnected in series circuit relation, being alone connected in one 01 the branches of the bridge and a second field winding of the first generator and the remaining, or second, low impedance field winding of the second generator, connected in series, being alone connected in the remaining branch of said Wheatstone bridge, said remaining two field windings of the first generator being connected respectively across the armature terminals of the second generator and in the armature circuit of the second generator to thus be responsive to the voltage and armature current respectively of the second generator, a source of direct-current energy connected across two of the junctions of said Wheatstone bridge, and a motor connected directly to said second generator, said first generator armature and resistor in series therewith being connected to the remaining junctions of said Wheatstone bridge.

18. In a system of control, in combination, a

Wheatstone bridge, a pair of resistors in each of two of the branches, and a pair of generators, one of said generators having an armature and an adjustable resistor in series therewith and four field windings and the other of said generator having at least two relatively low impedance field windings, one of the field windings ot the first generator and one of the low impedance field windings of the second generator, connected in series circuit relation, being alone connected in one of the branches of the bridge and a second field winding of the first generator and the remaining, or second, low impedance field winding of the second generator, connected in series, being alone connected in the remaining branch of said Wheatstone bridge, said remaining two field windings of the first generator being connected respectively across the armature terminals of the second generator and in the armature circuit of the second generator to thus be responsive to the voltage and armature current respectively of the second generator, a source of direct-current energy connected across two of the junctions of said Wheatstone bridge, and a motor connected directly to said second generator, said first generator armature and resistor in series therewith being connected to the remaining junctions of said Wheatstone bridge, means for varying the voltage of said source in predetermined steps.

GEORGE E. KING. 

